Apollo 10.0
自动驾驶开放平台
frame.proto
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1syntax = "proto2";
2
3message Vector3 {
4 optional double x = 1;
5 optional double y = 2;
6 optional double z = 3;
7}
8
9message Vector4 {
10 optional double x = 1;
11 optional double y = 2;
12 optional double z = 3;
13 optional double i = 4;
14 optional bool is_ground = 5 [default = false];
15}
16
17message Quaternion {
18 optional double x = 1;
19 optional double y = 2;
20 optional double z = 3;
21 optional double w = 4;
22}
23
24message GPSPose {
25 optional double lat = 1;
26 optional double lon = 2;
27 optional double bearing = 3;
28 optional double x = 4;
29 optional double y = 5;
30 optional double z = 6;
31 optional double qw = 7;
32 optional double qx = 8;
33 optional double qy = 9;
34 optional double qz = 10;
35}
36
37message CameraImage {
38 optional double timestamp = 1;
39 optional string image_url = 2;
40 optional Vector3 position = 3;
41 optional Quaternion heading = 4;
42 optional double fx = 5;
43 optional double fy = 6;
44 optional double cx = 7;
45 optional double cy = 8;
46 optional double skew = 9;
47 optional double k1 = 10;
48 optional double k2 = 11;
49 optional double k3 = 12;
50 optional double p1 = 13;
51 optional double p2 = 14;
52 optional string channel = 15;
53}
54
55message RadarPoint {
56 enum RadarType {
57 FRONT = 1;
58 REAR = 2;
59 }
60 optional Vector3 position = 1;
61 optional Vector3 direction = 2;
62 optional RadarType type = 3;
63}
64
65message Frame {
66 optional Vector3 device_position = 1;
67 optional Quaternion device_heading = 2;
68 optional GPSPose device_gps_pose = 3;
69 repeated Vector4 points = 4;
70 repeated RadarPoint radar_points = 5;
71 repeated CameraImage images = 6;
72 optional double timestamp = 7;
73 optional int32 frame_seq = 8;
74 optional string data_file = 9;
75}
syntax
Definition frame.proto:1